Mapping - Omron LD Platform User Manual

4.2 Mapping
Wireless Coverage
The AIV must have wireless coverage for multi-AIV installations, or in areas where you wish
to send new commands to or receive status updates from the AIV.
Ensure that, in such cases, you have adequate wireless coverage. Because of the variation pos-
sible in different environments, we don't specify what components or techniques should be
used to obtain this coverage.
We do suggest that you conduct a comprehensive site survey to ensure adequate wireless cov-
erage. You can test your wireless setup coverage by trying to ping it from various locations.
>= -40 dBm is the ideal WiFi signal strength, -60 dBm is the recommended minimum.
Bandwidth Considerations
The typical bandwidth for a fleet averages about 50 Kbps/AIV. This would increase if the AIV
is connected to the Enterprise Manager, and is actively viewed by MobilePlanner. This number
can increase or decrease depending on the types of commands and debugging tools that are
enabled in MobilePlanner. In any case, the bandwidth is not likely to exceed 500 Kbps per AIV
(0.5 Mbps).
0.5 Mbps per AIV would easily fit within the capabilities of access points (>=54 Mbps). If you
have multiple access points, this number becomes even less of a concern.
Also, other factors will affect the bandwidth requirements, such as if the AIV supports a cam-
era on top and streams the video through the AIV's WiFi interface. Based on such possibilities,
the bandwidth usage will vary by application.

4.2 Mapping

Out-of-the-box, the platform does not have a working map, nor are its wired or wireless net-
work settings likely to match your network. Consequently, it will not do anything autonom-
ously. In order to have your platform perform autonomous mobile activities, you need to make
a map of its operating space. Use the MobilePlanner application to make maps. Refer to the
Mobile Robot Software Suite User's Guide.
The tasks involved are:
Use the platform, while driving with the joystick, to make a floor plan scan.
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Load that floor plan scan into the MobilePlanner software on your PC, to make and edit
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a map.
Add goals and docks to your map. In particular, refer to:
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Working With Map Files > Editing a Map File >
Using the Drawing Tools > Adding Goals and Docks
in the Mobile Robot Software Suite User's Guide.
Transfer the working map to the Enterprise Manager, or back to the platform, if you
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have only one AIV, to perform autonomous mobile actions.
The Enterprise Manager will automatically download the new map to each AIV in your
fleet as soon the AIV becomes idle.
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